diff --git a/msg/versioned/VehicleStatus.msg b/msg/versioned/VehicleStatus.msg
index cf395d8501..8a17a60cd7 100644
--- a/msg/versioned/VehicleStatus.msg
+++ b/msg/versioned/VehicleStatus.msg
@@ -89,10 +89,9 @@ uint8 HIL_STATE_ON = 1
 
 # If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
 uint8 vehicle_type
-uint8 VEHICLE_TYPE_UNKNOWN = 0
-uint8 VEHICLE_TYPE_ROTARY_WING = 1
-uint8 VEHICLE_TYPE_FIXED_WING = 2
-uint8 VEHICLE_TYPE_ROVER = 3
+uint8 VEHICLE_TYPE_ROTARY_WING = 0
+uint8 VEHICLE_TYPE_FIXED_WING = 1
+uint8 VEHICLE_TYPE_ROVER = 2
 
 uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
 uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
index 614d408a5e..825cbdf97f 100644
--- a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
+++ b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
@@ -143,7 +143,7 @@ private:
 	)
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
-	typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_UNKNOWN};
+	typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_ROTARY_WING};
 	uORB::Subscription _dist_sense_mode_change_sub{ORB_ID(distance_sensor_mode_change_request)};
 	typeof(px4::msg::DistanceSensorModeChangeRequest::request_on_off) _req_mode{px4::msg::DistanceSensorModeChangeRequest::REQUEST_OFF};
 	bool _restriction{false};
diff --git a/src/lib/rtl/rtl_time_estimator.h b/src/lib/rtl/rtl_time_estimator.h
index 8c8519cd9b..7ca79fba1f 100644
--- a/src/lib/rtl/rtl_time_estimator.h
+++ b/src/lib/rtl/rtl_time_estimator.h
@@ -116,7 +116,7 @@ private:
 	float _time_estimate{0.f}; 		/**< Accumulated time estimate [s] */
 	bool _is_valid{false};		/**< Checks if time estimate is valid */
 
-	uint8_t _vehicle_type{vehicle_status_s::VEHICLE_TYPE_UNKNOWN}; /**< the defined vehicle type to use for the calculation*/
+	uint8_t _vehicle_type{vehicle_status_s::VEHICLE_TYPE_ROTARY_WING}; /**< the defined vehicle type to use for the calculation*/
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RTL_TIME_FACTOR>) _param_rtl_time_factor,  /**< Safety factory for safe time estimate */
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 2025d0a26c..ff13f277a4 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -688,7 +688,7 @@ Commander::Commander() :
 	_vehicle_status.system_id = 1;
 	_vehicle_status.component_id = 1;
 	_vehicle_status.system_type = 0;
-	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
+	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 	_vehicle_status.nav_state = _user_mode_intention.get();
 	_vehicle_status.nav_state_user_intention = _user_mode_intention.get();
 	_vehicle_status.nav_state_timestamp = hrt_absolute_time();